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Abstract Studies focusing on the kinematics of the ankle joint complex (AJC) have long been a key area of interest for biomechanists and orthopedic surgeons. However, it is not clear how additional weight-bearing walking affects the motion of the AJC compared to walking with a normal body weight (BW) or what adjustments the AJC would instinctively make to accommodate the additional load. To address this gap in knowledge, advanced dynamic biplane radiography combined with a model-based 2D-3D tracking technique was employed to elucidate the inherent kinematics of the AJC during the stance phase while walking with and without additional weight-bearing. It was found that walking with additional 50% body weight (BW + 50%) resulted in a greater dispersion of instantaneous axes of rotation in the talocrural and subtalar joints during the stance phase of gait. The talocrural joint is more plantarflexed and anteriorly translated during the early and late stance phases than during the midstance phases, which suggests that additional weight-bearing affects the stability of the AJC. Moreover, walking with BW + 50% showed that the center of rotation of the talocrural joint was positioned more superiorly and posteriorly during the foot flat to heel-off phase. This, accordingly, increases the ankle-foot gear ratio and the force of the dorsiflexors.

Abstract Water is necessary for the alkali aggregate reaction to occur and this study investigates the impact of waterproofing on alkali-aggregate reaction (AAR) in concrete by separating water from alkali reactive aggregates through surface, aggregate, and matrix treatments. Accelerated mortar bar tests (AMBT) are conducted to analyze the expansion caused by alkali aggregates. Furthermore, the suppressive mechanism of waterproofing on AAR is explored using scanning electron microscopy (SEM), while the influence of waterproof concrete aggregate and matrix on pore characteristics and hydration products is assessed using nuclear magnetic resonance (NMR) and X-ray diffraction (XRD). The results demonstrate that surface waterproofing with silane and polyvinyl alcohol (PVA) effectively suppress AAR. Moreover, PVA-coated aggregates significantly enhance the compactness of the interfacial transition zone (ITZ) in concrete. Based on these findings, an improved model considering waterproofness is proposed to quantify the degree of alkali aggregate reaction. These findings offer valuable guidance for controlling AAR.

The biological world serves as a vast reservoir of inspiration for human innovation, particularly in the realm of robotics designed to navigate intricate granular environments. Among these creatures adept at burrowing, the mole stands out due to its exceptional body structure and unparalleled efficiency, surpassing most engineering burrowing systems. Consequently, the mole serves as an ideal model for designing highly efficient burrowing robots. This study introduces a mole‐inspired robot burrowing with forelimbs, specifically designed for planetary soil exploration. By closely examining the distinctive body morphology of moles, a forelimb burrowing mechanism is devised through biomimetic mapping, and its kinematics is thoroughly analyzed. A robot prototype is developed and an experimental setup is constructed to evaluate its burrowing performance. A series of tests are conducted to assess the capabilities of the robot, including forelimb burrowing, robot crawling, and robot burrowing. The results demonstrate that the proposed mole‐inspired burrowing robot is capable of crawling and burrowing to a certain depth using its forelimbs. Although it exhibits some upward displacement, this issue can be mitigated by modifying the head configuration and adjusting the forelimb posture to effectively overcome the vertical stress and lift force exerted by granular soils due to intensity gradient.

Inspired by “crimped” collagen fiber, which induce a low-level load region within the hierarchical structures of ligaments and tendons, this study introduces a braiding technology aiming at characterizing nonlinear mechanical behavior. Samples of the developed artificial ligament with a multilayer braided structure were fabricated and tested. Alterations in the number of braiding layers, wales, and courses significantly affect the mechanical properties of the artificial ligaments. Specifically, the toe length exhibited an increase of up to 104.58 %, while the linear stiffness exhibited variations concomitant with changes in these parameters. Additionally, a mathematical model to describe the relationship between the toe length and linear stiffness was developed based on the braiding parameters and material properties of the fibers. Alternative fibers were employed and tested to demonstrate a consistency with the mathematical model. The correlation coefficients were calculated as 0.9644 for the toe length and 0.9203 for the linear stiffness. Lastly, this study mimics the mechanical behavior of the human medial collateral ligament (MCL) by integrating the artificial ligament into a bio-fidelity knee model with a joint stiffness of 1.77 Nm/deg, resulting in a high degree of similarity with human knee in valgus-varus, further affirming the utility and applicability of this study.

The dome shaped structures of natural organisms can provide design inspiration for impact resistant structural materials. Most of the existing biomimetic dome shaped impact resistant materials are directly formed using 3D printing technology, and the samples cannot dynamically adjust the impact resistance properties in the various applications. Herein, 4D printing of fused filament fabrication is employed to form flat structures with different structural patterns via programming the printing process parameters, which can be deformed into biomimetic dome structures with dynamic thermal stimulation treatment. The thermal stimulation treatment can drive the dynamic transformation of 2D planar structures into 3D structures, and the higher the thermal stimulation temperature, the greater the degree of eminence and the denser the structure under the same experimental conditions. The thermal stimulation temperature and the mechanical properties of the structural samples show a certain positive correlation. In addition, different design structural patterns have different compressive mechanical properties. The more the number of circular units, the more obvious the energy absorption characteristics. The impact-resistant biomimetic structures can be applied to the surface strengthening and cushioning of various weapons, vehicles, heavy equipment, and launch structure.

Leg properties have been involved in the broad study of human walking from mechanical energy to motion prediction of robotics. However, the variable leg elasticities and their functions during gait have not been fully explored. This study presented that the fundamental leg properties during human walking comprise axial stiffness, rest leg length, tangential stiffness and force-free leg angles. We measured the axial force-leg length and tangential force-leg angle data in eight participants (mean ± s.d. age 24.6 ± 3.0 years, mass 68.2 ± 6.8 kg, height 177.5 ± 5.2 cm) at three self-selected walking speeds (slow: 1.25 ± 0.22, normal: 1.48 ± 0.28, fast: 1.75 ± 0.32 m/s) on two different contact conditions (fixed and moving). After obtaining these gait measurements, we extracted the linear and nonlinear leg elasticities during human walking by using a minimum root-mean-square fitting. We found that the axial stiffness of nonlinear elasticity (fixed condition: 7.1-8.0, moving condition: 21.3-22.6) is higher than that of the linear elasticity (fixed condition: 5.0-5.7, moving condition: 15.2-16.5). The tangential stiffness behaves different during four stance phases of gait, with the highest (linear: 2.52-3.72, nonlinear: 1.71-2.01, in moving condition) occurred at early stance and second highest at late stance, followed by two stiffnesses in mid-stance. For both linearity and nonlinearity, the axial stiffness and rest length are independent of walking speeds in both contact conditions, while the tangential stiffness and contact angles are independent of walking speeds only in moving condition. Regardless of walking speed, elasticity and contact condition, the force-free contact angle at mid-stance is maintained at average of 82.2 °. This paper first demonstrates the mechanical walking leg property from both axial and tangential aspects. The findings provide insight into the fundamental properties including linearity and nonlinearity of human leg during locomotion for stability analysis and precise motion prediction of robotics and rehabilitation exoskeletons.

Understanding the distinct functions of human muscles could not only help professionals obtain insights into the underlying mechanisms that we accommodate compromised neuromuscular system, but also assist engineers in developing rehabilitation devices. This study aims to determine the contribution of major muscle and the energy flow in the human musculoskeletal system at four sub-phases (collision, rebound, preload, push-off) during the stance of walking at different speeds. Gait experiments were performed with three self-selected speeds: slow, normal, and fast. Muscle forces and mechanical work were calculated by using a subject-specified musculoskeletal model. The functions of individual muscles were characterized as four functional behaviors (strut, spring, motor, damper), which were determined based on the mechanical energy. The results showed that during collision, hip flexors (iliacus and psoas major) and ankle dorsiflexors (anterior tibialis) were the most dominant muscles in buffering the stride with energy absorption; during rebound, the posterior muscles (gluteus maximus, gastrocnemius, posterior tibialis, soleus) contributed the most to energy generation; during preload, energy for preparing push-off was mainly absorbed by the muscles surrounding knee (vastus, semimembranosus, semitendinosus); during push-off, ankle plantar flexors (gastrocnemius, soleus, posterior tibialis, peroneus muscles, flexor digitorum, flexor hallucis) mainly behaved to generate energy for forward propulsion. With increased walking speed, additional energy (almost 400%) from harder stride was mainly absorbed by the flexor muscles. Hip extensors and adductors transferred more energy (around 150%) to the distal segments during rebound. Soleus and gastrocnemius muscles generated more energy (about 75%) to the proximal segments for propulsion. Along with our previous study of joint-level energy analysis, these findings could assist better understanding of human musculoskeletal behaviors during locomotion and provide principles for the bio-design of related assistive devices from motors performance enhancement to rehabilitation such as exoskeleton and prosthesis.

This study assessed the effect of increased anthropogenic phosphorus (P) loading on P speciation in coastal sediments in Osaka Bay, an urbanized enclosed bay, and one of Japan’s most industrialized regions. The study analyzed Total P (TP) and determined the accumulations of five different P species Exchangeable P (Ex-P), Iron-bound P (Fe-P), Calcium-bound P (Ca-P), Detrital P (Det-P) and Organic P (Org-P)in the sediment using the sequential extraction method. We also estimated the historical P loading into Osaka Bay from major river catchments (the Yodo and Yamato Rivers) using the Soil and Water Assessment Tool. This study identified peak P loading values for the Yodo River in 1965 and the Yamato River in 1968, with the Yodo River being the primary anthropogenic source of P inflow for Osaka Bay. The concentration of TP ranges from 290.5 to 353.1 mg Kg ^−1 respectively, and the order of concentrations of the different P species is Org-P > Det-P > Ca-P > Fe-P > Ex-P. The results indicate a positive relationship between total P loading and Ca-P during the rapid growth period. We examined two potential mechanisms (adsorption-precipitation process and sink switching) for Ca-P formation and hypothesized that the adsorption-precipitation process is the dominant process, indicating that high anthropogenic P loading causes the accumulation of immobile Ca-P species in coastal sediments and serves as a permanent sink for P, as well as for water quality restoration. This result also suggests the possibility of reconstructing historical human-induced P loadings based on Ca-P in coastal sediments.

Through the synergy of nervous system and the self-regulation of muscle stiffness, living organisms are capable of quickly adjusting movements and actively adapting to dynamic environments. Likewise, the stiffness-changing and self-sensing functionalities are critical to empower soft robots with adjustable load capacity and agile movement. This work presents a paradigm for the design and fabrication of soft actuators with stiffness tunability and intrinsic self-sensing feedback through 4D printing method. The integration of 4D printed conductive composite into soft actuator body allows for stiffness adjustment within three orders of magnitude and ensures real-time stiffness-sensing, bending-sensing and pressure-sensing feedback. By constructing the theoretical deformation models and decoupling the resistance signals by machine learning methods, information on the stiffness, deformation and pressure of the material at different temperatures can be obtained. Cardiac-mimicking actuator and active therapeutic insoles are fabricated as proof-of-concept demonstrations, among which the active therapeutic insoles can perceive plantar pressure changes and conduct pressure-releasing actuation to ease the pain of patient at walk. It demonstrates the potential of this design approach for versatile applications such as medical assistive devices, artificial muscles, soft robotics, etc.

The level of joint laxity, which is an indicator of accurate diagnosis for musculoskeletal conditions is manually determined by a physician. Studying joint laxity via artificial joints is an efficient and economical way to improve patient experience and joint proficiency. However, most of study focus on the joint geometry but are inadequate with regard to the tailored mechanical properties of soft tissues. On the basis of collagen fibril deformation, this study proposes bioinspired 3D fibers braided from polyethene multifilament for the reproduction of the controlled nonlinear behavior of ligaments and tendons. Four braided bands are designed, all showing biological behaviors. Two knot-based bands exhibit large toe strains of 10.98% and 5.33% but low linear modulus of 239.84 MPa and 826.05 MPa. The other two bands without knots exhibit lower toe strains of 1.61% and 1.52% but high linear modulus of 2605.27 MPa and 2050.74 MPa. Empirical formulas for braiding parameters (wales and courses) and mechanical properties are expressed to provide a theoretical basis for the mimicry of different tissues in the human body by artificial joints. All parameters have significant effects on the linear region of the load-displacement curve of a fiber due to braided structure, while changing the number of wales facilitates a major contribution to the toe region. A biofidelic human knee has been successfully reconstructed by using bioinspired 3D braided fibers. This study demonstrates that the nonlinear mechanical properties of soft tissues can be replicated by bioinspired 3D braided fibers, further yielding the design of more biomechanically realistic artificial joints.

Prosthetic knees are state-of-the-art medical devices that use mechanical mechanisms and components to simulate the normal biological knee function for individuals with transfemoral amputation. A large variety of complicated mechanical mechanisms and components have been employed; however, they lack clear relevance to the walking biomechanics of users in the design process. This article aims to bridge this knowledge gap by providing a review of prosthetic knees from a biomechanical perspective and includes stance stability, early-stance flexion and swing resistance, which directly relate the mechanical mechanisms to the perceived walking performance, i.e., fall avoidance, shock absorption, and gait symmetry. The prescription criteria and selection of prosthetic knees depend on the interaction between the user and prosthesis, which includes five functional levels from K0 to K4. Misunderstood functions and the improper adjustment of knee prostheses may lead to reduced stability, restricted stance flexion, and unnatural gait for users. Our review identifies current commercial and recent studied prosthetic knees to provide a new paradigm for prosthetic knee analysis and facilitates the standardization and optimization of prosthetic knee design. This may also enable the design of functional mechanisms and components tailored to regaining lost functions of a specific person, hence providing individualized product design.

The purpose of this paper is to find a common element of the fixed point set of a nonexpansive mapping and the set of solutions of the general split variational inclusion problem in symmetric Hilbert spaces by using the inertial viscosity iterative method. Some strong convergence theorems of the proposed algorithm are demonstrated. As applications, we use our results to study the split feasibility problem and the split minimization problem. Finally, the numerical experiments are presented to illustrate the feasibility and effectiveness of our theoretical findings, and our results extend and improve many recent ones.

Similar to biological muscles in nature, artificial muscles have unique advantages for driving bionic robots. However, there is still a large gap between the performance of existing artificial muscles and biological muscles. Twisted polymer actuators (TPAs) convert rotary motion from torsional to linear motion. TPAs are known for their high energy efficiency and large linear strain and stress outputs. A simple, lightweight, low-cost, self-sensing robot powered using a TPA and cooled using a thermoelectric cooler (TEC) was proposed in this study. Because TPA burns easily at high temperatures, traditional soft robots driven by TPAs have low movement frequencies. In this study, a temperature sensor and TEC were combined to develop a closed-loop temperature control system to ensure that the internal temperature of the robot was 5 °C to cool the TPAs quickly. The robot could move at a frequency of 1 Hz. Moreover, a self-sensing soft robot was proposed based on the TPA contraction length and resistance. When the motion frequency was 0.01 Hz, the TPA had good self-sensing ability and the root-mean-square error of the angle of the soft robot was less than 3.89% of the measurement amplitude. This study not only proposed a new cooling method for improving the motion frequency of soft robots but also verified the autokinetic performance of the TPAs.

This paper proposes a Bayesian RC-frame finite element model updating (FEMU) and damage state estimation approach using the nonlinear acceleration time history based on nested sampling. Numerical RC-frame finite element model (FEM) parameters are selected through nested sampling, and their probability density is estimated using nonlinear time history. In the first step, we estimate the error standard deviation and select the FEM parameters that are required to be updated by FEMU. In the second step, we estimate the probability density of the selected parameters and realize the FEMU through the resampling method and kernel density estimation (KDE). Additionally, we propose a damage state estimate approach, which is a derivative method of the FEMU sample. The numerical results demonstrate that the proposed approach is reliable for the Bayesian FEMU and damage state estimation using nonlinear time history.

This study aims to explore the possibility of assessing muscle stress state using shear wave elastography (SWE). Eight healthy males participated in the measurements, and the Young's modulus of 10 leg muscles of each participant were measured in six standard positions: lying, sitting, and four quasi-static walking postures. The contributions of each muscle in the four quasi-static walking postures were examined, and the relationship between the Young's modulus and simultaneously recorded plantar pressure was preliminarily explored for the most significant muscles. Results indicate that ICC3,1 ranges from 0.941 to 0.998, and 95% CI is in the range 0.909-0.999, CV ranges from 1.45% to 9.5%, and SEM ranges from 0.026 kPa to 0.824 kPa for all the tested muscles. This indicates that the Young's modulus of the muscles, measured by SWE, showed excellent retest reliability. In the lying and sitting positions, significant differences were observed in Young's modulus of 9 muscles with the only exception of biceps femoris (BF). In the heel strike and push off positions, strong linear relationships were found between the plantar pressure and Young's modulus of gastrocnemius medialis (GM) suggesting that muscle SWE measurement may be a good indicator of ground reaction forces. This study demonstrates that the SWE measures of the muscle Young's modulus can be used to reliably reflect the quantitative change in the stiffness of a muscle at different positions, and may also be employed to estimate the ground reaction forces and muscle stress state. Although this is a great progress in studying muscle force, it is still a great challenge to measure the Young's modulus of muscle and noninvasively evaluate the muscle force in vivo using SWE.

The human tibiofibular complex has undergone a long evolutionary process, giving its structure a high bearing-capacity. The distinct tibiofibular shape can be used in engineering to acquire excellent mechanical properties. In this paper, four types of bionic tubes were designed by extracting the dimensions of different cross-sections of human tibia–fibula. They had the same outer profiles, but different inner shapes. The concept of specific stiffness was introduced to evaluate the mechanical properties of the four tubes. Finite-element simulations and physical bending-tests using a universal testing machine were conducted, to compare their mechanical properties. The simulations showed that the type 2 bionic tube, i.e., the one closest to the human counterpart, obtained the largest specific-stiffness (ε = 6.46 × 104), followed by the type 4 (ε = 6.40 × 104) and the type 1 (ε = 6.39 × 104). The type 3 had the largest mass but the least stiffness (ε = 6.07 × 104). The specific stiffness of the type 2 bionic tube increased by approximately 25.8%, compared with that of the type 3. The physical tests depicted similar findings. This demonstrates that the bionic tube inspired by the human tibiofibular shape has excellent effectiveness and bending properties, and could be used in the fields of healthcare engineering, such as robotics and prosthetics.

Updated concrete construction robots are designed to optimize equipment operation, improve safety, enhance workspace awareness, and further ensure a proper working environment for construction workers. The importance of concrete construction robots has been constantly highlighted, as they have a profound impact on construction quality and efficiency. Autonomous vehicle driving monitoring has been widely employed in concrete construction robots; however, they lack clear relevance to the key functions in the building process. This paper aims to bridge this knowledge gap by systematically classifying and summarizing the existing concrete construction robots, analyzing their existing problems, and providing direction for their future development. The prescription criteria and selection of robots depend on the concrete construction process, which includes six common functional levels: distribution, leveling and compaction, floor finishing, surface painting, 3D printing, and surveillance. Misunderstood functions and the improper adjustment of construction robots may lead to increased cost, reduced effectiveness, and restricted application scenarios. Our review identifies current commercial and recently studied concrete construction robots to facilitate the standardization and optimization of robotic construction design. Moreover, this study may be able to guide future research and technology development efforts for autonomous robots in concrete construction.

In the existing research on prosthetic footplates, rehabilitation insoles, and robot feet, the cushioning parts are basically based on simple mechanisms and elastic pads. Most of them are unable to provide adequate impact resistance especially during contact with the ground. This paper developed a bioinspired heel pad by optimizing the inner structures inspired from human heel pad which has great cushioning performance. The distinct structures of the human heel pad were determined through magnetic resonance imaging (MRI) technology and related literatures. Five-layer pads with and without inner structures by using two materials (soft rubber and resin) were obtained, resulting in four bionic heel pads. Three finite element simulations (static, impact, and walking) were conducted to compare the cushioning effects in terms of deformations, ground reactions, and principal stress. The optimal pad with bionic structures and soft rubber material reduced 28.0% peak vertical ground reaction force (GRF) during walking compared with the unstructured resin pad. Human walking tests by a healthy subject wearing the 3D printed bionic pads also showed similar findings, with an almost 20% decrease in peak vertical GRF at normal speed. The soft rubber heel pad with bionic structures has the best cushioning performance, while the unstructured resin pad depicts the poorest. This study proves that with proper design of the inner structures and materials, the bionic pads will demonstrate distinct cushioning properties, which could be applied to the engineering fields, including lower limb prosthesis, robotics, and rehabilitations.

Summary: Humans and animals can achieve agile and efficient movements because the muscle can operate in different modes depending on its intrinsic mechanical properties. For bioinspired robotics and prosthetics, it is highly desirable to have artificial actuators with muscle-like properties. However, it still remains a challenge to realize both intrinsic muscle-like force-velocity and force-length properties in one single actuator simultaneously. This study presents a bioinspired soft actuator, named HimiSK (highly imitating skeletal muscle), designed by spatially arranging a set of synergistically contractile units in a flexible matrix similar to skeletal musculature. We have demonstrated that the actuator presents both intrinsic force-velocity and force-length characteristics that are very close to biological muscle with inherent self-stability and robustness in response to external perturbations. These outstanding properties result from the bioinspired architecture and the adaptive morphing of the flexible matrix material, which adapts automatically to mechanically diverse tasks without reliance on sensors and controllers.

Summary: Organisms in nature grow with senses, nervous, and actuation systems coordinated in ingenious ways to sustain metabolism and other essential life activities. The understanding of biological structures and functions guide the construction of soft robotics with unprecedented performances. However, despite the progress in soft robotics, there still remains a big gap between man-made soft robotics and natural lives in terms of autonomy, adaptability, self-repair, durability, energy efficiency, etc. Here, the actuation and sensing strategies in the natural biological world are summarized along with their man-made counterparts applied in soft robotics. The development trends of bioinspired soft robotics toward closed loop and embodiment are proposed. Challenges for obtaining autonomous soft robotics similar to natural organisms are outlined to provide a perspective in this field.

Abstract Background Dasypyrum villosum is an important wild species of wheat (Triticum aestivum L.) and harbors many desirable genes that can be used to improve various traits of wheat. Compared with other D. villosum accessions, D. villosum#4 still remains less studied. In particular, chromosomes of D. villosum#4 except 6V#4 have not been introduced into wheat by addition or substitution and translocation, which is an essential step to identify and apply the alien desired genes. RNA-seq technology can generate large amounts of transcriptome sequences and accelerate the development of chromosome-specific molecular markers and assisted selection of alien chromosome line. Results We obtained the transcriptome of D. villosum#4 via a high-throughput sequencing technique, and then developed 76 markers specific to each chromosome arm of D. villosum#4 based on the bioinformatic analysis of the transcriptome data. The D. villosum#4 sequences containing the specific DNA markers were expected to be involved in different genes, among which most had functions in metabolic processes. Consequently, we mapped these newly developed molecular markers to the homologous chromosome of barley and obtained the chromosome localization of these markers on barley genome. Then we analyzed the collinearity of these markers among D. villosum, wheat, and barley. In succession, we identified six types of T. aestivum-D. villosum#4 alien chromosome lines which had one or more than one D. villosum#4 chromosome in the cross and backcross BC3F5 populations between T. durum–D. villosum#4 amphidiploid TH3 and wheat cv. Wan7107 by employing the selected specific markers, some of which were further confirmed to be translocation or addition lines by genomic in situ hybridization (GISH). Conclusion Seventy-six PCR markers specific to chromosomes of D. villosum#4 based on transcriptome data were developed in the current study and their collinearity among D. villosum, wheat, and barley were carried out. Six types of Triticum aestivum-D. villosum#4 alien chromosome lines were identified by using 12 developed markers and some of which were further confirmed by GISH. These novel T. aestivum-D. villosum#4 chromosome lines have great potential to be used for the introduction of desirable genes from D. villosum#4 into wheat by chromosomal translocation to breed new wheat varieties.

The overall distributions of the plantar fascia thickness and Young's modulus in the ten subjects were systematically investigated in this paper using two-dimensional ultrasound and shear wave elastography (SWE). The statistical analyses showed that ICC1,1 of the plantar fascia thickness and Young's modulus ranged from 0.950 to 0.991, with the 95% CI in the range of 0.953-0.996. This result indicated that the thickness and Young's modulus exhibited excellent retest reliability. The conclusion that both the thickness, d, and Young's modulus, E, of the plantar fascia showed a simple and specific spatial dependence on the characteristics of the gradient distribution can be drawn. As the plantar fascia extends from the calcaneus to the five toes, both the thickness, d, and Young's modulus, E, of the five bundles of plantar fascia showed a downward trend of a negative exponential function, and the thickness, d, and Young's modulus, E, were the largest at the tubercle of the calcaneus and closest to the lowest value at the tubercles of the five metatarsal bones. The coefficient of determination (R2) of the fitting curve of thickness, d, and Young's modulus, E, was higher than 0.959 in all ten subjects. The distribution characteristics of the plantar fascia thickness, d, and Young's modulus, E, showed good consistency in the healthy subjects in this paper. The conclusions of this paper may provide more accurate references and a basis for material mechanics data for plantar fascia diseases (such as fasciitis) and foot mechanical models (such as finite element models).

For prey, seeding, and protection, plants exhibit ingenious adaptive motions that respond autonomously to environmental stimuli by varying cellular organization, anisotropic orientation of cellulose fibers, mechanical instability design, etc. Notably, plants do not leverage muscle and nerves to produce and regulate their motions. In contrast, they harvest energy from the ambient environment and compute through embodied intelligence. These characteristics make them ideal candidates for application in self-morphing devices. Four-dimensional (4D) printing is a bottom-up additive manufacturing method that builds objects with the ability to change shape/properties in a predetermined manner. A versatile motion design catalog is required to predict the morphing processes and final states of the printed parts. This review summarizes the morphing and actuation mechanisms of plants and concludes with the recent development of 4D-printed smart materials inspired by the locomotion and structures of plant systems. We provide analyses of the challenges and our visions of biomimetic 4D printing, hoping to boost its application in soft robotics, smart medical devices, smart parts in aerospace, etc.

During human walking, mechanical energy transfers between segments via joints. Joint mechanics of the human body are coordinated with each other to adapt to speed change. The aim of this study is to analyze the functional behaviors of major joints during walking, and how joints and segments alter walking speed during different periods (collision, rebound, preload, and push-off) of stance phase. In this study, gait experiment was performed with three different self-selected speeds. Mechanical works of joints and segments were determined with collected data. Joint function indices were calculated based on net joint work. The results show that the primary functional behaviors of joints would not change with altering walking speed, but the function indices might be changed slightly (e.g., strut functions decrease with increasing walking speed). Waist acts as strut during stance phase and contributes to keep stability during collision when walking faster. Knee of stance leg does not contribute to altering walking speed. Hip and ankle absorb more mechanical energy to buffer the strike during collision with increasing walking speed. What is more, hip and ankle generate more energy during push-off with greater motion to push distal segments forward with increasing walking speed. Ankle also produces more mechanical energy during push-off to compensate the increased heel-strike collision of contralateral leg during faster walking. Thus, human may utilize the cooperation of hip and ankle during collision and push-off to alter walking speed. These findings indicate that speed change in walking leads to fundamental changes to joint mechanics.

This paper aims to further our previous study to investigate the effect of speed on the human metatarsophalangeal (MP) joint kinematics during running on level ground. The 3D motion of the foot segments was captured by a twelve-camera motion analysis system, and the ground reaction forces and moments were recorded by using a six-force plate array. The relative movement between the tarsometatarsi (hindfoot) and phalanges (forefoot) segments were recorded to obtain the 3D orientation and position of the functional axis (FA) of the MP joint. The results show that the FA locates about an average of 19% foot length (FL) anterior to the anatomical axis (AA) across all running speeds, and is also 4.8% FL inferior to the AA during normal and fast run. Similar to walking, the functional axis is more oblique than the anatomical axis with a more anterior–inferior orientation across all the running speeds. This suggests that representing MP joint with the AA may mislead the calculation of joint moment/power and muscle moment arms in both running and walking gait. Compared with previous study, we found that walking and running speeds have statistically significant effects on the position of the FA. The functional axis moves frontward to a more anterior position when the speed increases during walking and running. It transfers upward in the superior direction with increasing speed of walking, but moves more toward the inferior position when the velocity increased further to running. Also, the orientation of FA in sagittal plane became more oblique toward the vertical direction as the speed increased. This may help in moderating the muscular effort, increase the muscle EMA and improve the locomotor performance. These results would contribute to understanding the in vivo biomechanical function of the MP joint and also the foot propulsion during human locomotion.

Biological muscles exhibit a high level of integration, in which actuators, sensors and transmission elements can be included in one component. Artificial muscles or actuators refer to intelligent stimuli-responsive materials that could reversibly deform with the trigger of various external stimuli. These materials, which have attracted tremendous attention, produce natural muscle-like actuation performance and show promising applications in robotics. After an introduction of various actuator technologies that contribute to robotic applications, a comparative analysis of the main actuation parameter is provided. The comprehensive comparisons of each kind of artificial muscle are summarised, and the promising properties that are required in robotics are presented, which highlight the development of their actuation performances and the challenges that limit their further employments. Future developmental prospects and perspectives of artificial actuators are discussed.

Most semi-enclosed seas have experienced severe eutrophication owing to high nutrient loading from rivers during rapid population growth periods. In Japan, the coastal areas of some megacities (e.g. Tokyo and Osaka) experienced considerable economic growth during the 1960s–1970s. Therefore, determining the amount of nutrient loading during this period is essential to undertake measures for the conservation of coastal environments. However, determining the nutrient loading that occurred several decades ago is generally difficult owing to lacking water quality records. In this study, the nitrogen loading in the Yamato River catchment, an urbanized coastal catchment in Asia, for 80 years from the 1940s to the 2010s is reconstructed using the Soil and Water Assessment Tool. We considered factors such as population growth, wastewater treatment plant (WWTP) construction, and changes in land and fertilizer usage in different urbanization stages. Results show that the total nitrogen loading in the catchment peaked in the 1970s at 6616 tons yr ^−1 owing to untreated wastewater discharge and rapid increase in population growth. By reducing 57% of the nitrogen loading in the 2010s from the catchment, WWTPs have been instrumental in improving the water environment. The decrease in and integration of agricultural land has reduced nitrogen loading attributed to nonpoint sources; however, this reduction was not obvious because of the high fertilizer usage before the 2000s. Overall, the findings of this study provide a comprehensive understanding of the impact of rapid urbanization in an Asian coastal catchment on nitrogen loading during the high economic growth period in the past. This study will be useful for the long-term assessment of nutrient loading in other.

In this article, a compact dual-laser sensor based on an off-axis integrated-cavity output spectroscopy and time-division multiplexing method is reported. A complete dual-channel optical structure is developed and integrated on an optical cavity, which allows two distributed feedback (DFB) lasers operating at wavelengths of 1603 nm and 1651 nm to measure the concentration of CO2 and CH4, simultaneously. Performances of the dual-laser sensor are experimentally evaluated by using standard air (with a mixture of CO2 and CH4). The limit of detection (LoD) is 0.271 ppm and 1.743 ppb at a 20 s for CO2 and CH4, respectively, and the noise equivalent absorption sensitivities are 2.68 × 10−10 cm−1 Hz−1/2 and 3.88 × 10−10 cm−1 Hz−1/2, respectively. Together with a commercial instrument, the dual-laser sensor is used to measure CO2 and CH4 concentration over 120 h and verify the regular operation of the sensor for the detection of ambient air. Furthermore, a first-order exponential moving average algorithm is implemented as an effective digital filtering method to estimate the gas concentration.